A spraying intelligent control system for coal mine

Abstract

The application discloses a coal mine spraying intelligent control system and belongs to the technical field of spraying control; the coal mine spraying intelligent control system is used for solving the technical problem that the effect of automatic three-dimensional spraying collaborative control in the prior art is poor; spraying data and environment detection data of spraying devices preset in different position regions in the coal mine are detected in real time, real-time detection data of the different position regions are processed and analyzed in multiple dimensions, and unmanned aerial vehicles are dynamically controlled to implement collaborative spraying according to analysis results; collaborative spraying data of different position regions when the unmanned aerial vehicles collaboratively spray are detected and analyzed by the unmanned aerial vehicles, and subsequent collaborative spraying of the unmanned aerial vehicles is dynamically controlled self-adaptively according to corresponding collaborative spraying supervision analysis results of the different position regions, so that necessary data analysis and dynamic control for preventing and cooperating of an existing unmanned aerial vehicle collaborative spraying automatic control scheme of different position regions are actively realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spray control, in particular to a coal mine spray intelligent control system. BACKGROUND

[0002] The coal mine spray control is an intelligent management system combining automation, Internet of Things and artificial intelligence technology, mainly used for spray dust reduction, fire prevention and cooling in underground coal mines or open-pit mines; the core goal is to improve operation safety, reduce environmental pollution and save resource consumption through fine and dynamic spray control.

[0003] The existing coal mine spray control scheme mostly stays in using preset spray devices to spray fixed or dynamic water volume in different position areas or using manual remote control of unmanned aerial vehicles to spray in local areas during implementation, but cannot automatically control unmanned aerial vehicles to cooperate with existing spray devices in different position areas for collaborative spraying, resulting in poor effect of automatic three-dimensional spray collaborative control of the existing coal mine spray control scheme during implementation. SUMMARY

[0004] The present application aims to provide a coal mine spray intelligent control system to solve the technical problem of poor effect of automatic three-dimensional spray collaborative control in the existing scheme.

[0005] The object of the present application can be achieved by the following technical solutions:

[0006] A coal mine spray intelligent control system comprises:

[0007] A collaborative spray supervision and automatic control module is used for real-time detection of spray data and environmental detection data of preset spray devices in different position areas in the coal mine, and necessary multi-dimensional processing and analysis of the spray data and environmental detection data obtained by real-time detection in different position areas, and dynamic control of unmanned aerial vehicles for collaborative spraying according to the analysis results.

[0008] A collaborative spray control supervision and automatic optimization module is used for processing and analysis of collaborative spray data of unmanned aerial vehicles when spraying in different position areas, and dynamically controls subsequent collaborative spraying of the unmanned aerial vehicles according to the corresponding collaborative spray supervision and analysis results of different position areas.

[0009] Preferably, the spray data and environmental detection data corresponding to the operation of the preset spray devices in different position areas in the coal mine are obtained, and the real-time spray volume in the real-time detection and acquisition of the spray data in different position areas is input into a pre-constructed spray coordinate system for display and connection when necessary processing and analysis of the spray data and environmental detection data obtained by detection in different position areas are performed, to obtain the real-time spray curve corresponding to different position areas.

[0010] and the real-time dust concentration in the environment detection data detected in real time in different position areas is input into the pre-constructed concentration coordinate system in sequence for display and connection, to obtain the real-time concentration curve corresponding to different position areas.

[0011] Preferably, when the real-time spraying curve and the real-time concentration curve are used for data analysis of the spraying reliability state corresponding to different position areas, the concentration abnormal value corresponding to the value not being 0 of the real-time concentration curve is obtained and identified and analyzed;

[0012] If the concentration abnormal value is less than or equal to the concentration detection processing standard value, it is prompted that the spraying state of the position area is reliable;

[0013] If the concentration abnormal value is greater than the concentration detection processing standard value and not greater than the concentration detection warning value, the real-time spraying amount and the spraying adjustment duration of the position area are detected and analyzed, and if the real-time spraying amount is not adjusted, a first cooperative control instruction is generated.

[0014] Preferably, if the real-time spraying amount has been adjusted and the spraying adjustment duration is less than or equal to the spraying adjustment standard duration, an abnormality continuous supervision instruction is generated, and the abnormal spraying of the position area is traced and analyzed according to the abnormality continuous supervision instruction;

[0015] If the real-time spraying amount has been adjusted and the spraying adjustment duration becomes greater than the spraying adjustment standard duration, a second cooperative control instruction is generated.

[0016] If the concentration abnormal value is greater than the concentration detection warning value, a third cooperative control instruction is generated.

[0017] Preferably, according to the first cooperative control instruction, the second cooperative control instruction or the third cooperative control instruction, the position area is marked as a cooperative area, and the unmanned aerial vehicle is controlled to spray the cooperative area according to the preset cooperative water amount and unit spraying amount, until the concentration abnormal value of the cooperative area after the cooperative spraying is less than or equal to the concentration detection processing standard value, a cooperative spraying end instruction is generated, and the unmanned aerial vehicle is controlled to end the spraying of the cooperative area according to the cooperative spraying end instruction.

[0018] Preferably, the concentration abnormal value of the real-time concentration curve comprises:

[0019] whether the real-time concentration curve is in the standard concentration area in the corresponding concentration coordinate system is identified;

[0020] If the real-time concentration curve is in the corresponding standard concentration area, the concentration abnormal value corresponding to the real-time concentration curve is set to 0;

[0021] If the real-time concentration curve is not in the corresponding standard concentration area, the area surrounded by the real-time concentration area and the maximum value in the corresponding standard concentration area is obtained, and the numerical value of the area is set as the concentration abnormal value corresponding to the real-time concentration curve.

[0022] Preferably, the total number of abnormal continuous supervision instructions and the total number of second collaborative control instructions corresponding to the generated different position areas are obtained in sequence, and the collaborative active state corresponding to the different position areas is analyzed by using the total number of abnormal continuous supervision instructions N1 and the total number of second collaborative control instructions N2.

[0023] If N2 of the position area is greater than or equal to k*N1, k is in the range of (0, 1), the associated collaborative active necessary state of the position area is associated, and the target position area is marked, and the existing real-time spraying amount adjustment parameter corresponding to the target position area is optimized.

[0024] Preferably, the total number of abnormal continuous supervision instructions N1' and the total number of second collaborative control instructions N2' corresponding to the generated different position areas are obtained in sequence, and the collaborative active state corresponding to the different position areas is analyzed by using the total number of abnormal continuous supervision instructions N1' and the total number of second collaborative control instructions N2'.

[0025] If N2' of the position area is greater than or equal to k*N1', the target position area is controlled to implement the unmanned aerial vehicle prevention collaborative spraying scheme.

[0026] If N2' of the position area is less than k*N1', the target position area is controlled to implement the existing spraying device and unmanned aerial vehicle collaborative spraying scheme.

[0027] Preferably, if N2 of the position area is less than k*N1, the associated collaborative active unnecessary state of the position area is associated, and the existing spraying device and unmanned aerial vehicle collaborative spraying scheme is controlled to implement the existing spraying device and unmanned aerial vehicle collaborative spraying scheme.

[0028] Compared with the existing scheme, the beneficial effects realized by the present application are:

[0029] The present application realizes the active supervision and collaborative control of the three-dimensional spraying necessary when the existing coal mine spraying control scheme is implemented in different position areas of the coal mine by real-time detection of the spraying data and environmental detection data of the preset spraying device in different position areas of the coal mine, multi-dimensional processing and analysis of the real-time detection data of different position areas, and dynamic control of the unmanned aerial vehicle to implement collaborative spraying according to the analysis result.

[0030] The present application realizes the automatic control scheme of the unmanned aerial vehicle in the coal mine, and the necessary data analysis and dynamic control of the automatic control scheme are actively prevented, and the regulation and control effect of the different spraying schemes in the different position regions of the coal mine are further improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] The present application will be further described below with reference to the accompanying drawings.

[0032] Figure 1 The present application is a flowchart of the operation of the spraying intelligent control system for the coal mine.

[0033] Figure 2 The present application is a flowchart of the operation of the spraying intelligent control system for the coal mine. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0035] As shown in Figure 1 The present application is a spraying intelligent control system for the coal mine, which comprises:

[0036] The spraying data and the environmental detection data of the spraying device in the coal mine are detected in real time, and the spraying data and the environmental detection data obtained by the real-time detection are subjected to necessary multi-dimensional processing analysis, and the unmanned aerial vehicle is dynamically controlled according to the analysis results to implement the cooperative spraying.

[0037] It should be noted that the number of the spraying device in the coal mine can be customized according to the application requirements of the actual application scene, and the specific region and the number of the spraying device are not limited here.

[0038] In addition, the spraying data includes the real-time spraying amount, and the environmental detection data includes the real-time dust concentration, which can be detected based on the existing water detection sensor and the particulate matter concentration detection sensor.

[0039] The spraying data and the environmental detection data detected in different positions are input into the pre-constructed spraying coordinate system for display and connection, and the real-time spraying curve corresponding to different positions is obtained.

[0040] The horizontal axis of the spraying coordinate system is the real-time Beijing time, and the unit is accurate to seconds; the vertical axis is a plurality of spraying amount standard values that are in equal difference growth; the difference between the spraying amount standard values is determined according to the historical spraying amount big data corresponding to different positions, and the specific value is not limited.

[0041] The real-time dust concentration in the environmental detection data detected in different positions is input into the pre-constructed concentration coordinate system for display and connection, and the real-time concentration curve corresponding to different positions is obtained.

[0042] The horizontal axis of the concentration coordinate system is the real-time Beijing time, and the unit is accurate to seconds; the vertical axis is a plurality of dust concentration standard values that are in equal difference growth; the difference between the dust concentration standard values is determined according to the historical dust concentration big data corresponding to different positions, and the specific value is not limited.

[0043] When the real-time spraying curve and the real-time concentration curve are used to analyze the spraying reliable state corresponding to different positions, the concentration abnormal value corresponding to the value of the real-time concentration curve is obtained and identified.

[0044] The concentration abnormal value of the real-time concentration curve is obtained by the following steps:

[0045] Whether the real-time concentration curve is in the standard concentration area in the corresponding concentration coordinate system is identified.

[0046] If the real-time concentration curve is in the corresponding standard concentration area, the concentration abnormal value corresponding to the real-time concentration curve is set to 0.

[0047] If the real-time concentration curve is not in the corresponding standard concentration area, the area surrounded by the real-time concentration area and the maximum value in the corresponding standard concentration area is obtained, and the value of the area is set as the concentration abnormal value corresponding to the real-time concentration curve.

[0048] It should be noted that the area maximum of the standard concentration area is a preset dust concentration standard value; the standard concentration area is a space surrounded by the dust concentration standard value and the horizontal axis of the corresponding concentration coordinate system; the specific value of the dust concentration standard value is not limited, and can be determined according to the existing coal mine production safety requirement data; since there is an error in the spraying treatment of the concentration abnormal value, further data analysis is required to improve the accuracy of the spraying control;

[0049] If the concentration abnormal value is less than or equal to the concentration detection processing standard value, the spraying state of the corresponding position area is reliable; it can be understood that the spraying device of the corresponding position area can control the dust concentration of the area;

[0050] If the concentration abnormal value is greater than the concentration detection processing standard value and not greater than the concentration detection warning value, the real-time spraying amount and the spraying adjustment time of the corresponding position area are detected and analyzed, and if the real-time spraying amount is not adjusted, a first cooperative control instruction is generated;

[0051] The concentration detection warning value is greater than the concentration detection processing standard value, and the concentration detection processing standard value and the concentration detection warning value can be determined according to the existing spraying adjustment design requirement data of the corresponding position area, or can be determined according to the median value and the maximum value of all dust concentrations corresponding to the historical adjustment of the real-time spraying amount of the spraying device of the corresponding position area;

[0052] If the real-time spraying amount has been adjusted and the spraying adjustment time is less than or equal to the spraying adjustment standard time, an abnormal continuous supervision instruction is generated, and the abnormal spraying of the corresponding position area is traced and analyzed according to the abnormal continuous supervision instruction; the spraying adjustment standard time can be determined according to the median value of all spraying adjustment times corresponding to the historical adjustment of the spraying amount of the spraying device of the corresponding position area;

[0053] If the real-time spraying amount has been adjusted and the spraying adjustment time becomes greater than the spraying adjustment standard time, a second cooperative control instruction is generated;

[0054] If the real-time spraying amount has been adjusted and the concentration abnormal value changes to be less than or equal to the concentration detection processing standard value, a cooperative non-control instruction is generated;

[0055] It should be noted that when the concentration abnormal value is greater than the concentration detection processing standard value and not greater than the concentration detection warning value, there are two cases, one is that the real-time spraying amount is not adjusted; one is that the real-time spraying amount has been adjusted;

[0056] In the case that the real-time spraying amount has been adjusted, there are also two cases, one is that the spraying adjustment time is less than or equal to the spraying adjustment standard time, and the other is that the spraying adjustment time is less than or equal to the spraying adjustment standard time;

[0057] It is worth noting that, unlike existing technologies that simply use preset spraying devices to spray fixed or dynamic amounts of water to different locations, or use manual remote control of drones to spray local areas, the active monitoring of local spraying effects in different locations is not effective, and the automated monitoring, analysis and control of drone-assisted spraying is not effective.

[0058] In this embodiment of the invention, by actively monitoring and processing different detection data in different locations and regions, and automatically controlling drones to cooperate with existing spraying devices in different locations and regions for coordinated spraying based on the analysis results, the diversity and comprehensiveness of automated monitoring and analysis of coal mine spraying are improved, thereby effectively improving the accuracy and timeliness of subsequent drone coordinated control.

[0059] If the abnormal concentration value exceeds the concentration detection warning value, a third collaborative control command will be generated.

[0060] According to the first, second, or third collaborative control command, the location area is marked as a collaborative area, and the drone is controlled to spray the collaborative area according to the preset collaborative water volume and unit spray volume until the concentration anomaly value of the collaborative area after collaborative spraying is less than or equal to the concentration detection and processing standard value. Then, a collaborative spraying end command is generated, and the drone is controlled to end the spraying of the collaborative area according to the collaborative spraying end command.

[0061] The preset collaborative water volume and unit spray volume of the drone can be determined based on historical collaborative spraying data of the collaborative area, or it can be customized by professionals in the field according to the application requirements of the actual application scenario. The specific values ​​are not limited.

[0062] In this embodiment of the invention, by real-time detection of spraying data and environmental monitoring data of spraying devices preset in different locations in a coal mine, and by multi-dimensional processing and analysis of the real-time monitoring data of different locations, and by dynamically controlling drones to carry out coordinated spraying based on the analysis results, the necessary active supervision and coordinated control of three-dimensional spraying in different locations of the coal mine is realized, which improves the diversity and reliability of coordinated control of different spraying schemes in different locations of the coal mine.

[0063] The automated optimization module for coordinated spraying control and monitoring is used to monitor and analyze the coordinated spraying data of drones spraying in different locations and areas. Based on the monitoring and analysis results of coordinated spraying in different locations and areas, it adaptively and dynamically controls the subsequent coordinated spraying of the drones; including:

[0064] It needs to be explained that for different abnormal continuous supervision instruction total number and second collaborative control instruction total number of different position areas of coal mine, the operation of the spraying device in different position areas cannot meet the corresponding spraying requirements, and a targeted spraying control scheme needs to be implemented, so further expansion analysis needs to be carried out on the basis of the previous supervision processing data to realize data analysis and intelligent control of the corresponding collaborative active state of different position areas.

[0065] The total number of abnormal continuous supervision instructions and the total number of second collaborative control instructions corresponding to different position areas are obtained in sequence, and the total number of abnormal continuous supervision instructions N1 and the total number of second collaborative control instructions N2 are used to analyze the data of the corresponding collaborative active state of different position areas.

[0066] If the N2 of the position area is greater than or equal to k*N1, the value of k is in the range of (0, 1), and the specific value is not limited, which can be customized according to the application requirements of the actual application scene, then the associated collaborative active necessary state of the position area is associated, and it is marked as the target position area, and the existing real-time spraying amount adjustment parameter corresponding to the target position area is optimized;

[0067] It can be understood that if the N2 of the position area is greater than or equal to k*N1, it means that the existing spraying amount adjustment of the spraying device in this position area cannot meet the high dust concentration spraying processing requirements of this position area, and needs to be optimized and processed.

[0068] Among them, the existing real-time spraying amount adjustment parameter corresponding to the target position area is optimized, specifically, the value of the adjusted real-time spraying amount can be set as the maximum spraying amount designed for the spraying device to meet the demand of high dust concentration spraying in the target position area.

[0069] After the optimization processing of the existing real-time spraying amount adjustment parameter of the target position area, the total number of abnormal continuous supervision instructions N1' and the total number of second collaborative control instructions N2' corresponding to the generated data are analyzed.

[0070] As shown in Figure 2 If the N2' of the position area is greater than or equal to k*N1', the target position area is controlled to implement the unmanned aerial vehicle prevention collaborative spraying scheme.

[0071] The unmanned aerial vehicle prevention collaborative spraying scheme, specifically, when the concentration abnormal value of the target position area is greater than the concentration detection processing standard value, the unmanned aerial vehicle is immediately controlled to spray the target position area, realizing the three-dimensional spraying collaborative automatic control of the target position area.

[0072] If the N2' of the position area is less than k*N1', the target position area is controlled to implement the existing spraying device and unmanned aerial vehicle collaborative spraying scheme.

[0073] If N2 of the position area is less than k*N1, the position area is associated with the active unnecessary state, and the position area is controlled to implement the existing spraying device and unmanned aerial vehicle cooperative spraying scheme, that is, the unmanned aerial vehicle is controlled to spray according to the first cooperative control instruction, the second cooperative control instruction or the third cooperative control instruction.

[0074] In the embodiment of the present application, the cooperative spraying data of the unmanned aerial vehicle in the cooperative spraying of different position areas is monitored and processed and analyzed, and the subsequent cooperative spraying of the unmanned aerial vehicle is dynamically controlled according to the cooperative spraying monitoring and analysis results corresponding to different position areas, so that the existing unmanned aerial vehicle cooperative spraying automatic control scheme of different position areas is actively prevented from cooperative necessary data analysis and dynamic control, and the supervision and control effect of the cooperative control of different spraying schemes of different position areas of the coal mine is further improved.

[0075] In several embodiments provided in the present application, it should be understood that the disclosed method can be implemented in other ways. For example, the above-described embodiments of the application are only illustrative, for example, the division of the modules is only a logical function division, and another division mode can be used in actual implementation.

[0076] The modules described as separate components can or can not be physically separated, and the components shown as modules can or can not be physical modules, which can be located in one place or distributed on multiple network modules. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0077] In addition, each functional module in each embodiment of the present application can be integrated in one processing module, or each module can exist physically alone, or two or more modules can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of hardware plus software functional module.

[0078] For those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the essential characteristics of the present application.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting, and although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A smart spraying control system for coal mines, characterized in that, include: The collaborative spraying monitoring and automation control module is used to monitor spraying data and environmental monitoring data of preset spraying devices in different locations in the coal mine in real time, and to perform collaborative multi-dimensional processing and analysis of the spraying data and environmental monitoring data obtained in real time in different locations, and to dynamically control drones to carry out collaborative spraying based on the analysis results. Among them, when using the constructed real-time spraying curve and real-time concentration curve to perform data analysis on the spraying reliability status corresponding to different locations, the concentration anomalies corresponding to the real-time concentration curve that are not 0 are obtained and identified and analyzed. If the abnormal concentration value is less than or equal to the concentration detection and processing standard value, it indicates that the spraying status of the corresponding location area is reliable; If the concentration anomaly value is greater than the concentration detection and processing standard value but not greater than the concentration detection warning value, the real-time spraying volume and spraying adjustment time of the corresponding location area are detected and analyzed. If the real-time spraying volume is not adjusted, the first collaborative control command is generated. The steps for obtaining concentration anomalies in the real-time concentration curve include: Identify whether the real-time concentration curve falls within the standard concentration region in the corresponding concentration coordinate system; If the real-time concentration curve is within the corresponding standard concentration range, then the concentration anomaly value corresponding to the real-time concentration curve is set to 0; If the real-time concentration curve is not in the corresponding standard concentration region, obtain the area enclosed by the maximum value of the region in the real-time concentration region and the corresponding standard concentration region, and set the value of the area to the concentration anomaly value corresponding to the real-time concentration curve. The collaborative spraying control and monitoring automation optimization module is used to monitor and analyze the collaborative spraying data of drones spraying in different locations and areas. Based on the collaborative spraying monitoring and analysis results corresponding to different locations and areas, it adaptively and dynamically controls the subsequent collaborative spraying of drones.

2. The intelligent spraying control system for coal mines according to claim 1, characterized in that, The system acquires spraying data and environmental monitoring data corresponding to the operation of preset spraying devices in different locations within a coal mine. When collaboratively processing and analyzing the spraying data and environmental monitoring data acquired in different locations, the real-time spraying volume in the real-time spraying data acquired in different locations is input into a pre-constructed spraying coordinate system for display and connection, thereby obtaining the real-time spraying curves corresponding to different locations. Furthermore, the real-time dust concentrations from environmental monitoring data acquired in different locations are sequentially input into a pre-built concentration coordinate system for display and connection, resulting in real-time concentration curves corresponding to different locations.

3. The intelligent spraying control system for coal mines according to claim 1, characterized in that, If the real-time spraying volume has been adjusted and the spraying adjustment duration is less than or equal to the standard spraying adjustment duration, an abnormal continuous monitoring instruction will be generated, and the abnormal spraying in the corresponding location area will be traced and analyzed based on the abnormal continuous monitoring instruction. If the real-time spray volume has been adjusted and the spray adjustment duration becomes longer than the standard spray adjustment duration, then a second collaborative control command is generated. If the abnormal concentration value exceeds the concentration detection warning value, a third collaborative control command will be generated.

4. The intelligent spraying control system for coal mines according to claim 3, characterized in that, The location area is marked as a collaborative area according to the first, second, or third collaborative control command. The drone is then controlled to spray the collaborative area according to the preset collaborative water volume and unit spray volume until the concentration anomaly value of the collaborative area after collaborative spraying is less than or equal to the concentration detection and processing standard value. Then, a collaborative spraying end command is generated, and the drone is controlled to end the spraying of the collaborative area according to the collaborative spraying end command.

5. The intelligent spraying control system for coal mines according to claim 4, characterized in that, The total number of continuous abnormal monitoring instructions and the total number of collaborative control instructions generated in different location areas are obtained sequentially. The total number of continuous abnormal monitoring instructions N1 and the total number of collaborative control instructions N2 are used to perform data analysis on the collaborative active status corresponding to different location areas. If the location region N2≥k*N1, and the value of k is in the range of (0,1), then the location region is associated with the necessary state of collaborative action, and it is marked as the target location region. The existing real-time spraying volume adjustment parameters corresponding to the target location region are then optimized.

6. The intelligent spraying control system for coal mines according to claim 5, characterized in that, Data analysis is performed on the total number of abnormal continuous monitoring instructions N1´ and the total number of second collaborative control instructions N2´ generated after optimizing the existing real-time spray volume adjustment parameters of the target location area. If the location area N2´≥k*N1´, then implement a drone-based coordinated spraying scheme to control the target location area. If the location area N2´<k*N1´, then control the target location area to implement the existing spraying device and drone coordinated spraying scheme.

7. The intelligent spraying control system for coal mines according to claim 5, characterized in that, If N2 of the location area is less than k*N1, then the location area will be associated with an unnecessary state of coordination, and the existing spraying device and drone coordinated spraying scheme will be implemented in the location area.

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